Robotic electrosurgical device with disposable shaft

ABSTRACT

An apparatus includes an interface assembly and a shaft assembly. The interface assembly is for use with a robotic system and includes a first drive assembly. The first drive assembly includes a first slot having a distal recess and a transverse recess. The shaft assembly is removably couplable with the interface assembly and includes an end effector and a first coupling feature. The first drive assembly of the interface assembly actuates the end effector of the shaft assembly. The first coupling feature is couplable with the first slot of the first drive assembly to longitudinally fix the shaft assembly relative to the interface assembly.

BACKGROUND

A variety of surgical instruments include a tissue cutting element andone or more elements that transmit radio frequency (RF) energy to tissue(e.g., to coagulate or seal the tissue). An example of an RFelectrosurgical instrument is the ENSEAL® Tissue Sealing Device byEthicon Endo-Surgery, Inc., of Cincinnati, Ohio. Further examples ofsuch devices and related concepts are disclosed in U.S. Pat. No.6,500,176 entitled “Electrosurgical Systems and Techniques for SealingTissue,” issued Dec. 31, 2002, the disclosure of which is incorporatedby reference herein; U.S. Pat. No. 7,112,201 entitled “ElectrosurgicalInstrument and Method of Use,” issued Sep. 26, 2006, the disclosure ofwhich is incorporated by reference herein; U.S. Pat. No. 7,125,409,entitled “Electrosurgical Working End for Controlled Energy Delivery,”issued Oct. 24, 2006, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 7,169,146 entitled “ElectrosurgicalProbe and Method of Use,” issued Jan. 30, 2007, the disclosure of whichis incorporated by reference herein; U.S. Pat. No. 7,186,253, entitled“Electrosurgical Jaw Structure for Controlled Energy Delivery,” issuedMar. 6, 2007, the disclosure of which is incorporated by referenceherein; U.S. Pat. No. 7,189,233, entitled “Electrosurgical Instrument,”issued Mar. 13, 2007, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 7,220,951, entitled “Surgical SealingSurfaces and Methods of Use,” issued May 22, 2007, the disclosure ofwhich is incorporated by reference herein; U.S. Pat. No. 7,309,849,entitled “Polymer Compositions Exhibiting a PTC Property and Methods ofFabrication,” issued Dec. 18, 2007, the disclosure of which isincorporated by reference herein; U.S. Pat. No. 7,311,709, entitled“Electrosurgical Instrument and Method of Use,” issued Dec. 25, 2007,the disclosure of which is incorporated by reference herein; U.S. Pat.No. 7,354,440, entitled “Electrosurgical Instrument and Method of Use,”issued Apr. 8, 2008, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 7,381,209, entitled “ElectrosurgicalInstrument,” issued Jun. 3, 2008, the disclosure of which isincorporated by reference herein.

Additional examples of electrosurgical cutting instruments and relatedconcepts are disclosed in U.S. Pub. No. 2011/0087218, entitled “SurgicalInstrument Comprising First and Second Drive Systems Actuatable by aCommon Trigger Mechanism,” published Apr. 14, 2011, the disclosure ofwhich is incorporated by reference herein; U.S. Pub. No. 2012/0116379,entitled “Motor Driven Electrosurgical Device with Mechanical andElectrical Feedback,” published May 10, 2012, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2012/0078243, entitled“Control Features for Articulating Surgical Device,” published Mar. 29,2012, the disclosure of which is incorporated by reference herein; U.S.Pub. No. 2012/0078247, entitled “Articulation Joint Features forArticulating Surgical Device,” published Mar. 29, 2012, the disclosureof which is incorporated by reference herein; U.S. Pub. No.2013/0030428, entitled “Surgical Instrument with Multi-Phase TriggerBias,” published Jan. 31, 2013, the disclosure of which is incorporatedby reference herein; and U.S. Pub. No. 2013/0023868, entitled “SurgicalInstrument with Contained Dual Helix Actuator Assembly,” published Jan.31, 2013, the disclosure of which is incorporated by reference herein.

In addition, a variety of surgical instruments include a shaft having anarticulation section, providing enhanced positioning capabilities for anend effector that is located distal to the articulation section of theshaft. Examples of such devices include various models of the ENDOPATH®endocutters by Ethicon Endo-Surgery, Inc., of Cincinnati, Ohio. Furtherexamples of such devices and related concepts are disclosed in U.S. Pat.No. 7,380,696, entitled “Articulating Surgical Stapling InstrumentIncorporating a Two-Piece E-Beam Firing Mechanism,” issued Jun. 3, 2008,the disclosure of which is incorporated by reference herein; U.S. Pat.No. 7,404,508, entitled “Surgical Stapling and Cutting Device,” issuedJul. 29, 2008, the disclosure of which is incorporated by referenceherein; U.S. Pat. No. 7,455,208, entitled “Surgical Instrument withArticulating Shaft with Rigid Firing Bar Supports,” issued Nov. 25,2008, the disclosure of which is incorporated by reference herein; U.S.Pat. No. 7,506,790, entitled “Surgical Instrument Incorporating anElectrically Actuated Articulation Mechanism,” issued Mar. 24, 2009, thedisclosure of which is incorporated by reference herein; U.S. Pat. No.7,549,564, entitled “Surgical Stapling Instrument with an ArticulatingEnd Effector,” issued Jun. 23, 2009, the disclosure of which isincorporated by reference herein; U.S. Pat. No. 7,559,450, entitled“Surgical Instrument Incorporating a Fluid Transfer ControlledArticulation Mechanism,” issued Jul. 14, 2009, the disclosure of whichis incorporated by reference herein; U.S. Pat. No. 7,654,431, entitled“Surgical Instrument with Guided Laterally Moving Articulation Member,”issued Feb. 2, 2010, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 7,780,054, entitled “Surgical Instrumentwith Laterally Moved Shaft Actuator Coupled to Pivoting ArticulationJoint,” issued Aug. 24, 2010, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 7,784,662, entitled “Surgical Instrumentwith Articulating Shaft with Single Pivot Closure and Double Pivot FrameGround,” issued Aug. 31, 2010, the disclosure of which is incorporatedby reference herein; and U.S. Pat. No. 7,798,386, entitled “SurgicalInstrument Articulation Joint Cover,” issued Sep. 21, 2010, thedisclosure of which is incorporated by reference herein.

Some surgical systems provide robotic control of a surgical instrument.With minimally invasive robotic surgery, surgical operations may beperformed through a small incision in the patient's body. A roboticsurgical system may be used with various types of surgical instruments,including but not limited to surgical staplers, ultrasonic instruments,electrosurgical instruments, and/or various other kinds of instruments,as will be described in greater detail below. An example of a roboticsurgical system is the DAVINCI™ system by Intuitive Surgical, Inc., ofSunnyvale, Calif. By way of further example, one or more aspects ofrobotic surgical systems are disclosed in the following: U.S. Pat. No.5,792,135, entitled “Articulated Surgical Instrument For PerformingMinimally Invasive Surgery With Enhanced Dexterity and Sensitivity,”issued Aug. 11, 1998, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 5,817,084, entitled “Remote CenterPositioning Device with Flexible Drive,” issued Oct. 6, 1998, thedisclosure of which is incorporated by reference herein; U.S. Pat. No.5,878,193, entitled “Automated Endoscope System for OptimalPositioning,” issued Mar. 2, 1999, the disclosure of which isincorporated by reference herein; U.S. Pat. No. 6,231,565, entitled“Robotic Arm DLUS for Performing Surgical Tasks,” issued May 15, 2001,the disclosure of which is incorporated by reference herein; U.S. Pat.No. 6,783,524, entitled “Robotic Surgical Tool with UltrasoundCauterizing and Cutting Instrument,” issued Aug. 31, 2004, thedisclosure of which is incorporated by reference herein; U.S. Pat. No.6,364,888, entitled “Alignment of Master and Slave in a MinimallyInvasive Surgical Apparatus,” issued Apr. 2, 2002, the disclosure ofwhich is incorporated by reference herein; U.S. Pat. No. 7,524,320,entitled “Mechanical Actuator Interface System for Robotic SurgicalTools,” issued Apr. 28, 2009, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 7,691,098, entitled “Platform Link WristMechanism,” issued Apr. 6, 2010, the disclosure of which is incorporatedby reference herein; U.S. Pat. No. 7,806,891, entitled “Repositioningand Reorientation of Master/Slave Relationship in Minimally InvasiveTelesurgery,” issued Oct. 5, 2010, the disclosure of which isincorporated by reference herein; and U.S. Pat. No. 7,824,401, entitled“Surgical Tool With Writed Monopolar Electrosurgical End Effectors,”issued Nov. 2, 2010, the disclosure of which is incorporated byreference herein.

Additional examples of instruments that may be incorporated with arobotic surgical system are described in U.S. Pub. No. 2013/0012957,entitled “Automated End Effector Component Reloading System for Use witha Robotic System, published Jan. 10, 2013, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2012/0199630, entitled“Robotically-Controlled Surgical Instrument with Force-FeedbackCapabilities,” published Aug. 9, 2012, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2012/0132450, entitled“Shiftable Drive Interface for Robotically-Controlled Surgical Tool,”published May 31, 2012, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2012/0199633, entitled “SurgicalStapling Instruments with Cam-Driven Staple Deployment Arrangements,”published Aug. 9, 2012, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2012/0199631, entitled“Robotically-Controlled Motorized Surgical End Effector System withRotary Actuated Closure Systems Having Variable Actuation Speeds,”published Aug. 9, 2012, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2012/0199632, entitled“Robotically-Controlled Surgical Instrument with SelectivelyArticulatable End Effector,” published Aug. 9, 2012, the disclosure ofwhich is incorporated by reference herein; U.S. Pub. No. 2012/0203247,entitled “Robotically-Controlled Surgical End Effector System,”published Aug. 9, 2012, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2012/0211546, entitled “Drive Interfacefor Operably Coupling a Manipulatable Surgical Tool to a Robot,”published Aug. 23, 2012; U.S. Pub. No. 2012/0138660, entitled“Robotically-Controlled Cable-Based Surgical End Effectors,” publishedJun. 7, 2012, the disclosure of which is incorporated by referenceherein; U.S. Pub. No. 2012/0205421, entitled “Robotically-ControlledSurgical End Effector System with Rotary Actuated Closure Systems,”published Aug. 16, 2012, the disclosure of which is incorporated byreference herein; U.S. patent application Ser. No. 13/443,101, entitled“Control Interface for Laparoscopic Suturing Instrument,” filed Apr. 10,2012, the disclosure of which is incorporated by reference herein; andU.S. Provisional Pat. App. No. 61/597,603, entitled “RoboticallyControlled Surgical Instrument,” filed Feb. 10, 2012, the disclosure ofwhich is incorporated by reference herein.

While several surgical instruments and systems have been made and used,it is believed that no one prior to the inventors has made or used theinvention described in the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

While the specification concludes with claims which particularly pointout and distinctly claim this technology, it is believed this technologywill be better understood from the following description of certainexamples taken in conjunction with the accompanying drawings, in whichlike reference numerals identify the same elements and in which:

FIG. 1 depicts a block diagram of an exemplary robotic surgical system;

FIG. 2 depicts a perspective view of an exemplary controller of thesystem of FIG. 1;

FIG. 3 depicts a perspective view of an exemplary robotic arm cart ofthe system of FIG. 1;

FIG. 4 depicts a perspective view of an exemplary surgical instrumentsuitable for incorporation with the system of FIG. 1;

FIG. 5 depicts a perspective view of the shaft assembly of the surgicalinstrument of FIG. 4;

FIG. 6 depicts a perspective view of components of the shaft assembly ofFIG. 5;

FIG. 7 depicts a top plan view of a distal portion of the shaft assemblyof FIG. 5;

FIG. 8 depicts a perspective view of the end effector of the shaftassembly of FIG. 5, in an open configuration;

FIG. 9 depicts a perspective view in cross-section of the end effectorof FIG. 8, taken along a lateral plane, with the end effector in aclosed configuration;

FIG. 10 depicts a bottom plan view of a proximal portion of theinstrument of FIG. 4;

FIG. 11 depicts a perspective view of the instrument of FIG. 4, with atop cover removed;

FIG. 12 depicts a left side elevational view of the instrument of FIG.4, with the top cover removed;

FIG. 13 depicts a right side elevational view of the instrument of FIG.4, with the top cover removed;

FIG. 14 depicts a perspective view of another exemplary surgicalinstrument suitable for incorporation with the system of FIG. 1;

FIG. 15 depicts a partial perspective view of a shaft assembly of thesurgical instrument of FIG. 14;

FIG. 16 depicts a partial top plan view of the shaft assembly of FIG.15;

FIG. 17 depicts a partial side elevational view of the shaft assembly ofFIG. 15;

FIG. 18A depicts a partial perspective view of an interface assembly ofthe surgical instrument of FIG. 14 with a cover removed;

FIG. 18B depicts an exploded view of the interface assembly of FIG. 18A;

FIG. 19 depicts a perspective view of a helical gear of the interfaceassembly of FIG. 18;

FIG. 20 depicts a cross sectional view of the helical gear of FIG. 19taken along the line 20-20 of FIG. 19;

FIG. 21 depicts a perspective view of a first tubular member of theinterface assembly of FIG. 18;

FIG. 22 depicts a cross sectional view of the first tubular member ofFIG. 21 taken along the line 22-22 of FIG. 21;

FIG. 23 depicts a rear view of the first tubular member of FIG. 21;

FIG. 24 depicts a front view of the first tubular member of FIG. 21;

FIG. 25 depicts a perspective view of a second tubular member of theinterface assembly of FIG. 18;

FIG. 26 depicts a cross sectional view of the second tubular member ofFIG. 25 taken along the line 26-26 of FIG. 25;

FIG. 27 depicts a rear view of the second tubular member of FIG. 25;

FIG. 28 depicts a front view of the second tubular member of FIG. 25;

FIG. 29 depicts a perspective view of a third tubular member of theinterface assembly of FIG. 18;

FIG. 30 depicts a cross sectional view of the third tubular member ofFIG. 29 taken along the line 30-30 of FIG. 29;

FIG. 31 depicts a rear view of the second tubular member of FIG. 29;

FIG. 32 depicts a front view of the second tubular member of FIG. 29;

FIG. 33 depicts a top perspective view of a cover of the interfaceassembly of FIG. 18;

FIG. 34 depicts a bottom perspective view of the cover of FIG. 33;

FIG. 35 depicts a bottom plan view of the cover of FIG. 33;

FIG. 36A depicts a partial perspective view of the instrument of FIG.14, showing the shaft assembly being inserted within the interfaceassembly with the cover removed;

FIG. 36B depicts a partial perspective view of the instrument of FIG.14, showing the shaft assembly coupled with the interface assembly withthe cover removed;

FIG. 36C depicts a partial perspective view of the instrument of FIG.14, showing the cover coupled with the shaft assembly and the interfaceassembly;

FIG. 37 depicts a partial perspective view of another exemplary surgicalinstrument suitable for incorporation with the system of FIG. 1, with acover removed;

FIG. 38 depicts a partial perspective view of a proximal end of a shaftassembly of the instrument of FIG. 37;

FIG. 39 depicts a perspective view of a plug for use with the shaftassembly of FIG. 38;

FIG. 40A depicts a partial perspective view of the plug of FIG. 39 beinginserted within the shaft assembly of FIG. 38;

FIG. 40B depicts a partial perspective view of the plug of FIG. 38coupled with the shaft assembly of FIG. 38;

FIG. 41A depicts a partial perspective view of the proximal end of theshaft assembly of FIG. 38, with the plug removed and with the shaftcover omitted;

FIG. 41B depicts a partial perspective view of the proximal end of theshaft assembly of FIG. 38, with the plug inserted and with the shaftcover omitted;

FIG. 42 depicts a perspective view of a second tubular member of aninterface assembly of the instrument of FIG. 37;

FIG. 43 depicts a cross sectional view of the second tubular member ofFIG. 42 taken along the line 43-43 of FIG. 42;

FIG. 44 depicts a front view of the second tubular member of FIG. 42;

FIG. 45 depicts a rear view of the second tubular member of FIG. 42;

FIG. 46A depicts a partial perspective view of the instrument of FIG.37, showing the shaft assembly being inserted within the interfaceassembly;

FIG. 46B depicts a partial perspective view of the instrument of FIG.37, showing the shaft assembly coupled with the interface assembly;

FIG. 46C depicts a partial perspective view of the instrument of FIG.37, showing the plug coupled with the shaft assembly;

FIG. 46D depicts a partial perspective view of the instrument of FIG.37, showing the cover coupled with the interface assembly;

FIG. 47 depicts a partial perspective view of another exemplary surgicalinstrument suitable for incorporation with the system of FIG. 1, with acover removed;

FIG. 48 depicts a partial perspective view of a proximal end of a shaftassembly of the instrument of FIG. 47;

FIG. 49 depicts a side view of the shaft assembly of FIG. 48;

FIG. 50 depicts a perspective view of a first pivot arm of an interfaceassembly of the instrument of FIG. 47;

FIG. 51 depicts a front view of the first pivot arm of FIG. 50;

FIG. 52 depicts a perspective view of a second pivot arm of theinterface assembly of the instrument of FIG. 47;

FIG. 53 depicts a front view of the second pivot arm of FIG. 52;

FIG. 54A depicts a partial perspective view of the instrument of FIG.47, showing the shaft assembly being inserted within the interfaceassembly;

FIG. 54B depicts a partial perspective view of the instrument of FIG.47, showing the shaft assembly coupled with the interface assembly;

FIG. 55 depicts a partial perspective view of an exemplary interfaceassembly for use with the system of FIG. 1;

FIG. 56A depicts a partial perspective view of an exemplary instrumentfor use with the system of FIG. 1, showing a shaft assembly beinginserted within the interface assembly of FIG. 55;

FIG. 56B depicts a partial perspective view of the instrument of FIG.56A, showing the shaft assembly coupled with the interface assembly;

FIG. 56C depicts a partial perspective view of the instrument of FIG.56A, showing a rack assembly coupled with the interface assembly; and

FIG. 56D depicts a partial perspective view of the instrument of FIG.56A, showing a cover coupled with the interface assembly.

The drawings are not intended to be limiting in any way, and it iscontemplated that various embodiments of the technology may be carriedout in a variety of other ways, including those not necessarily depictedin the drawings. The accompanying drawings incorporated in and forming apart of the specification illustrate several aspects of the presenttechnology, and together with the description serve to explain theprinciples of the technology; it being understood, however, that thistechnology is not limited to the precise arrangements shown.

DETAILED DESCRIPTION

The following description of certain examples of the technology shouldnot be used to limit its scope. Other examples, features, aspects,embodiments, and advantages of the technology will become apparent tothose skilled in the art from the following description, which is by wayof illustration, one of the best modes contemplated for carrying out thetechnology. As will be realized, the technology described herein iscapable of other different and obvious aspects, all without departingfrom the technology. Accordingly, the drawings and descriptions shouldbe regarded as illustrative in nature and not restrictive.

It is further understood that any one or more of the teachings,expressions, embodiments, examples, etc. described herein may becombined with any one or more of the other teachings, expressions,embodiments, examples, etc. that are described herein. Thefollowing-described teachings, expressions, embodiments, examples, etc.should therefore not be viewed in isolation relative to each other.Various suitable ways in which the teachings herein may be combined willbe readily apparent to those of ordinary skill in the art in view of theteachings herein. Such modifications and variations are intended to beincluded within the scope of the claims.

For clarity of disclosure, the terms “proximal” and “distal” are definedherein relative to a robotic surgical driver comprising a proximalhousing having an interface that mechanically and electrically coupleswith a surgical instrument having a distal surgical end effector. Theterm “proximal” refers the position of an element closer to the roboticsurgical driver housing and the term “distal” refers to the position ofan element closer to the surgical end effector of the surgicalinstrument and further away from the housing.

I. Exemplary Robotic Surgical System Overview

FIG. 1 illustrates an exemplary robotic surgical system (10). System(10) comprises at least one controller (14) and at least one arm cart(18). Arm cart (18) is mechanically and/or electrically coupled to oneor more robotic manipulators or arms (20). Each robotic arm (20)comprises one or more surgical instruments (22) for performing varioussurgical tasks on a patient (24). Operation of arm cart (18), includingarms (20) and instruments (22), may be directed by a clinician (12) fromcontroller (14). In some examples, a second controller (14′), operatedby a second clinician (12′), may also direct operation of the arm cart(18) in conjunction with the first clinician (12′). For example, each ofthe clinicians (12, 12′) may control different arms (20) of the cart or,in some cases, complete control of arm cart (18) may be passed betweenthe clinicians (12, 12′). In some examples, additional arm carts (notshown) may be utilized on the patient (24). These additional arm cartsmay be controlled by one or more of the controllers (14, 14′).

Arm cart(s) (18) and controllers (14, 14′) may be in communication withone another via a communications link (16), which may be any suitabletype of wired and/or wireless communications link carrying any suitabletype of signal (e.g., electrical, optical, infrared, etc.) according toany suitable communications protocol. Communications link (16) may be anactual physical link or it may be a logical link that uses one or moreactual physical links. When the link is a logical link the type ofphysical link may be a data link, uplink, downlink, fiber optic link,point-to-point link, for example, as is well known in the computernetworking art to refer to the communications facilities that connectnodes of a network.

FIG. 2 shows an exemplary controller (30) that may serve as a controller(14) of system (10). In this example, controller (30) generally includesuser input assembly (32) having precision user input features (notshown) that are grasped by the surgeon and manipulated in space whilethe surgeon views the surgical procedure via a stereo display (34). Theuser input features of user input assembly (32) may include manual inputdevices that move with multiple degrees of freedom; and that include anactuatable handle for intuitively actuating tools (e.g., for closinggrasping saws, applying an electrical potential to an electrode, etc).Controller (30) of the present example also includes an array offootswitches (38) providing additional control of arms (20) andinstruments (22) to the surgeon. Display (34) may show views from one ormore endoscopes viewing the surgical site within the patient and/or anyother suitable view(s). In addition, a feedback meter (36) may be viewedthrough the display (34) and provide the surgeon with a visualindication of the amount of force being applied to a component ofinstrument (22) (e.g., a cutting member or clamping member, etc.). Othersensor arrangements may be employed to provide controller (30) with anindication as to whether a staple cartridge has been loaded into an endeffector of instrument (22), whether an anvil of instrument (22) hasbeen moved to a closed position prior to firing, and/or some otheroperational condition of instrument (22).

FIG. 3 shows an exemplary robotic arm cart (40) that may serve as of armcart (18) of system (10). In this example, arm cart (40) is operable toactuate a plurality of surgical instruments (50). While threeinstruments (50) are shown in this example, it should be understood thatarm cart (40) may be operable to support and actuate any suitable numberof surgical instruments (50). Surgical instruments (50) are eachsupported by a series of manually articulatable linkages, generallyreferred to as set-up joints (44), and a robotic manipulator (46). Thesestructures are herein illustrated with protective covers extending overmuch of the robotic linkage. These protective covers may be optional,and may be limited in size or entirely eliminated in some versions tominimize the inertia that is encountered by the servo mechanisms used tomanipulate such devices, to limit the volume of moving components so asto avoid collisions, and to limit the overall weight of cart (40).

Each robotic manipulator (46) terminates at an instrument platform (70),which is pivotable, rotatable, and otherwise movable by manipulator(46). Each platform includes an instrument dock (72) that is slidablealong a pair of tracks (74) to further position instrument (50). Suchsliding is motorized in the present example. Each instrument dock (72)includes mechanical and electrical interfaces that couple with aninterface assembly (52) of instrument (50). By way of example only, dock(72) may include four rotary outputs that couple with complementaryrotary inputs of interface assembly (52). Such rotary drive features maydrive various functionalities in instrument (50), such as is describedin various references cited herein and/or as is described in greaterdetail below. Electrical interfaces may establish communication viaphysical contact, inductive coupling, and/or otherwise; and may beoperable to provide electrical power to one or more features ininstrument (50), provide commands and/or data communication toinstrument (50), and/or provide commands and/or data communication frominstrument (50). Various suitable ways in which an instrument dock (72)may mechanically and electrically communicate with an interface assembly(52) of an instrument (50) will be apparent to those of ordinary skillin the art in view of the teachings herein. It should also be understoodthat instrument (50) may include one or more cables that couple with aseparate power source and/or control unit, to provide communication ofpower and/or commands/data to/from instrument (50).

Arm cart (40) of the present example also includes a base (48) that ismovable (e.g., by a single attendant) to selectively position arm cart(40) in relation to a patient. Cart (40) may generally have dimensionssuitable for transporting the cart (40) between operating rooms. Cart(40) may be configured to fit through standard operating room doors andonto standard hospital elevators. In some versions, an automatedinstrument reloading system (not shown) may also be positioned in ornear the work envelope (60) of arm cart (40), to selectively reloadcomponents (e.g., staple cartridges, etc.) of instruments (50).

In addition to the foregoing, it should be understood that one or moreaspects of system (10) may be constructed in accordance with at leastsome of the teachings of U.S. Pat. Nos. 5,792,135; 5,817,084; 5,878,193;6,231,565; 6,783,524; 6,364,888; 7,524,320; 7,691,098; 7,806,891;7,824,401; and/or U.S. Pub. No. 2013/0012957. The disclosures of each ofthe foregoing U.S. patents and U.S. patent Publication are incorporatedby reference herein. Still other suitable features and operabilitiesthat may be incorporated into system (10) will be apparent to those ofordinary skill in the art in view of the teachings herein.

II. Exemplary Electrosurgical Instrument with Articulation Feature

FIGS. 4-13 show an exemplary electrosurgical instrument (100) that maybe used as at least one instrument (50) within system (10). At leastpart of instrument (100) may be constructed and operable in accordancewith at least some of the teachings of U.S. Pat. Nos. 6,500,176;7,112,201; 7,125,409; 7,169,146; 7,186,253; 7,189,233; 7,220,951;7,309,849; 7,311,709; 7,354,440; 7,381,209; U.S. Pub. No. 2011/0087218;U.S. Pub. No. 2012/0116379; U.S. Pub. No. 2012/0078243; U.S. Pub. No.2012/0078247; U.S. Pub. No. 2013/0030428; and/or U.S. Pub. No.2013/0023868. As described therein and as will be described in greaterdetail below, instrument (100) is operable to cut tissue and seal orweld tissue (e.g., a blood vessel, etc.) substantially simultaneously.In other words, instrument (100) operates similar to an endocutter typeof stapler, except that instrument (100) provides tissue welding throughapplication of bipolar RF energy instead of providing lines of staplesto join tissue. It should also be understood that instrument (100) mayhave various structural and functional similarities with the ENSEAL®Tissue Sealing Device by Ethicon Endo-Surgery, Inc., of Cincinnati,Ohio. Furthermore, instrument (100) may have various structural andfunctional similarities with the devices taught in any of the otherreferences that are cited and incorporated by reference herein. To theextent that there is some degree of overlap between the teachings of thereferences cited herein, the ENSEAL® Tissue Sealing Device by EthiconEndo-Surgery, Inc., of Cincinnati, Ohio, and the following teachingsrelating to instrument (100), there is no intent for any of thedescription herein to be presumed as admitted prior art. Severalteachings herein will in fact go beyond the scope of the teachings ofthe references cited herein and the ENSEAL® Tissue Sealing Device byEthicon Endo-Surgery, Inc., of Cincinnati, Ohio.

Instrument (100) of the present example includes an interface assembly(110), a shaft assembly (160), an articulation section (170), and an endeffector (180). Interface assembly (110) is configured to couple with adock (72) of robotic arm cart (40) and is thereby further operable todrive articulation section (170) and end effector (180) as will bedescribed in greater detail below. As will also be described in greaterdetail below, instrument (100) is operable to articulate end effector(180) to provide a desired positioning relative to tissue (e.g., a largeblood vessel, etc.), then sever the tissue and apply bipolar RF energyto the tissue with end effector (180) to thereby seal the tissue.

A. Exemplary Shaft Assembly and Articulation Section

Shaft assembly (160) of the present example extends distally frominterface assembly (110). Articulation section (170) is located at thedistal end of shaft assembly (160), with end effector (180) beinglocated distal to articulation section (170). Shaft assembly (160)includes an outer sheath (162) that encloses drive features andelectrical features that couple interface assembly (110) witharticulation section (170) and end effector (180). As best seen in FIG.5, shaft assembly (160) further includes a unitary rotary coupling (164)and a firing beam coupling (166). Shaft assembly (160) is rotatableabout the longitudinal axis defined by sheath (162), relative tointerface assembly (110), via rotary coupling (164). Such rotation mayprovide rotation of end effector (180), articulation section (170), andshaft assembly (160) unitarily. In some other versions, rotary coupling(164) is operable to rotate end effector (180) without rotating anyportion of shaft assembly (160) that is proximal of articulation section(170). As another merely illustrative example, instrument (100) mayinclude one rotation control that provides rotatability of shaftassembly (160) and end effector (180) as a single unit; and anotherrotation control that provides rotatability of end effector (180)without rotating any portion of shaft assembly (160) that is proximal ofarticulation section (170). Other suitable rotation schemes will beapparent to those of ordinary skill in the art in view of the teachingsherein. Of course, rotatable features may simply be omitted if desired.

Articulation section (170) is operable to selectively position endeffector (180) at various angles relative to the longitudinal axisdefined by sheath (162). Articulation section (170) may take a varietyof forms. By way of example only, articulation section (170) may beconfigured in accordance with one or more teachings of U.S. Pub. No.2012/0078247, the disclosure of which is incorporated by referenceherein. As another merely illustrative example, articulation section(170) may be configured in accordance with one or more teachings of U.S.Pub. No. 2012/0078248, entitled “Articulation Joint Features forArticulating Surgical Device,” published Mar. 29, 2012, the disclosureof which is incorporated by reference herein. Various other suitableforms that articulation section (170) may take will be apparent to thoseof ordinary skill in the art in view of the teachings herein. It shouldalso be understood that some versions of instrument (10) may simply lackarticulation section (170).

As best seen in FIGS. 6-7, articulation section (170) of the presentexample comprises a ribbed body (172) with a pair of articulation beams(174, 176) extending through ribbed body (172). An upper half of ribbedbody (172) is omitted in FIG. 6. Articulation beams (174, 176) aredistally anchored within a tube (178) that is positioned between endeffector (180) and articulation section (170). Articulation beams (174,176) are operable to articulate end effector (180) by laterallydeflecting end effector (180) away from the longitudinal axis defined bysheath (162). In particular, and referring to the view shown in FIG. 7,end effector (180) will deflect toward articulation beam (174) whenarticulation beam (174) is retracted proximally while articulation beam(176) is advanced distally. End effector (180) will deflect towardarticulation beam (176) when articulation beam (176) is retractedproximally while articulation beam (174) is advanced distally. Merelyillustrative examples of how articulation beams (174, 176) may beopposingly translated will be described in greater detail below, whilestill other examples will be apparent to those of ordinary skill in theart in view of the teachings herein. As best seen in FIG. 6, a spacerbody (177) is positioned between articulation beams (174, 176) and isoperable to maintain beams (174, 176) in a substantially straight,separated relationship.

B. Exemplary End Effector

End effector (180) of the present example comprises a first jaw (182)and a second jaw (184). In the present example, first jaw (182) issubstantially fixed relative to shaft assembly (160); while second jaw(184) pivots relative to shaft assembly (160), toward and away fromfirst jaw (182). In some versions, actuators such as rods or cables,etc., may extend through sheath (162) and be joined with second jaw(184) at a pivotal coupling, such that longitudinal movement of theactuator rods/cables/etc. through shaft assembly (160) provides pivotingof second jaw (184) relative to shaft assembly (160) and relative tofirst jaw (182). Of course, jaws (182, 184) may instead have any othersuitable kind of movement and may be actuated in any other suitablefashion. By way of example only, and as will be described in greaterdetail below, jaws (182, 184) may be actuated and thus closed bylongitudinal translation of a firing beam (190), such that actuatorrods/cables/etc. may simply be eliminated in some versions.

As best seen in FIGS. 8-9, first jaw (182) defines a longitudinallyextending elongate slot (183); while second jaw (184) also defines alongitudinally extending elongate slot (185). In addition, the top sideof first jaw (182) presents a first electrode surface (186); while theunderside of second jaw (184) presents a second electrode surface (187).Electrode surface (186, 187) are in communication with an electricalsource (102) via one or more conductors (not shown) that extend alongthe length of shaft assembly (160). Electrical source (102) is operableto deliver RF energy to first electrode surface (186) at a firstpolarity and to second electrode surface (187) at a second (opposite)polarity, such that RF current flows between electrode surface (186,187) and thereby through tissue captured between jaws (182, 184). Insome versions, firing beam (190) serves as an electrical conductor thatcooperates with electrode surface (186, 187) (e.g., as a ground return)for delivery of bipolar RF energy captured between jaws (182, 184).

Electrical source (102) may be external to instrument (100) or may beintegral with instrument (100), as described in one or more referencescited herein or otherwise. A controller (104) regulates delivery ofpower from electrical source (102) to electrode surfaces (186, 187).Controller (104) may also be external to instrument (100) or may beintegral with electrosurgical instrument (100), as described in one ormore references cited herein or otherwise. It should also be understoodthat electrode surfaces (186, 187) may be provided in a variety ofalternative locations, configurations, and relationships. It should alsobe understood that power source (102) and/or controller (104) may beconfigured in accordance with at least some of the teachings of U.S.Provisional Pat. App. No. 61/550,768, entitled “Medical Instrument,”filed Oct. 24, 2011, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2011/0082486, entitled “Devices andTechniques for Cutting and Coagulating Tissue,” published Apr. 7, 2011,the disclosure of which is incorporated by reference herein; U.S. Pub.No. 2011/0087212, entitled “Surgical Generator for Ultrasonic andElectrosurgical Devices,” published Apr. 14, 2011, the disclosure ofwhich is incorporated by reference herein; U.S. Pub. No. 2011/0087213,entitled “Surgical Generator for Ultrasonic and ElectrosurgicalDevices,” published Apr. 14, 2011, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2011/0087214, entitled“Surgical Generator for Ultrasonic and Electrosurgical Devices,”published Apr. 14, 2011, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2011/0087215, entitled “SurgicalGenerator for Ultrasonic and Electrosurgical Devices,” published Apr.14, 2011, the disclosure of which is incorporated by reference herein;U.S. Pub. No. 2011/0087216, entitled “Surgical Generator for Ultrasonicand Electrosurgical Devices,” published Apr. 14, 2011, the disclosure ofwhich is incorporated by reference herein; and/or U.S. Pub. No.2011/0087217, entitled “Surgical Generator for Ultrasonic andElectrosurgical Devices,” published Apr. 14, 2011, the disclosure ofwhich is incorporated by reference herein. Other suitable configurationsfor power source (102) and controller (104) will be apparent to those ofordinary skill in the art in view of the teachings herein.

As best seen in FIG. 9, the lower side of first jaw (182) includes alongitudinally extending recess (197) adjacent to slot (183); while theupper side of second jaw (184) includes a longitudinally extendingrecess (193) adjacent to slot (185). FIG. 2 shows the upper side offirst jaw (182) including a plurality of teeth serrations (188). Itshould be understood that the lower side of second jaw (184) may includecomplementary serrations that nest with serrations (188), to enhancegripping of tissue captured between jaws (182, 184) without necessarilytearing the tissue. Of course, serrations (188) may take any othersuitable form or may be simply omitted altogether. It should also beunderstood that serrations (188) may be formed of an electricallynon-conductive, or insulative, material, such as plastic, glass, and/orceramic, for example, and may include a treatment such aspolytetrafluoroethylene, a lubricant, or some other treatment tosubstantially prevent tissue from getting stuck to jaws (182, 184).

With jaws (182, 184) in a closed position, shaft assembly (160) and endeffector (180) are sized and configured to fit through trocars havingvarious inner diameters, such that instrument (100) is usable inminimally invasive surgery, though of course instrument (100) could alsobe used in open procedures if desired. By way of example only, with jaws(182, 184) in a closed position, shaft assembly (160) and end effector(180) may present an outer diameter of approximately 5 mm.Alternatively, shaft assembly (160) and end effector (180) may presentany other suitable outer diameter (e.g., between approximately 2 mm andapproximately 20 mm, etc.).

In some versions, end effector (180) includes one or more sensors (notshown) that are configured to sense a variety of parameters at endeffector (180), including but not limited to temperature of adjacenttissue, electrical resistance or impedance of adjacent tissue, voltageacross adjacent tissue, forces exerted on jaws (182, 184) by adjacenttissue, etc. By way of example only, end effector (180) may include oneor more positive temperature coefficient (PTC) thermistor bodies (189)(e.g., PTC polymer, etc.), located adjacent to electrodes (186, 187)and/or elsewhere. Data from sensors may be communicated to controller(104). Controller (104) may process such data in a variety of ways. Byway of example only, controller (104) may modulate or otherwise changethe RF energy being delivered to electrode surface (186, 187), based atleast in part on data acquired from one or more sensors at end effector(180). In addition or in the alternative, controller (104) may alert theuser to one or more conditions via an audio and/or visual feedbackdevice (e.g., speaker, lights, display screen, etc.), based at least inpart on data acquired from one or more sensors at end effector (180). Itshould also be understood that some kinds of sensors need notnecessarily be in communication with controller (104), and may simplyprovide a purely localized effect at end effector (180). For instance,PTC thermistor bodies (189) at end effector (180) may automaticallyreduce the energy delivery at electrode surface (186, 187) as thetemperature of the tissue and/or end effector (180) increases, therebyreducing the likelihood of overheating. In some such versions, a PTCthermistor element is in series with power source (102) and electrodesurface (186, 187); and the PTC thermistor provides an increasedimpedance (reducing flow of current) in response to temperaturesexceeding a threshold. Furthermore, it should be understood thatelectrode surface (186, 187) may be used as sensors (e.g., to sensetissue impedance, etc.). Various kinds of sensors that may beincorporated into instrument (100) will be apparent to those of ordinaryskill in the art in view of the teachings herein. Similarly variousthings that can be done with data from sensors, by controller (104) orotherwise, will be apparent to those of ordinary skill in the art inview of the teachings herein. Other suitable variations for end effector(180) will also be apparent to those of ordinary skill in the art inview of the teachings herein.

Firing beam (190) is longitudinally movable along part of the length ofend effector (180). Firing beam (190) is coaxially positioned withinshaft assembly (160), extends along part of the length of shaft assembly(160), and translates longitudinally within shaft assembly (160)(including articulation section (170) in the present example), though itshould be understood that firing beam (190) and shaft assembly (160) mayhave any other suitable relationship. As shown in FIG. 6, firing beam(190) is secured to a firing block (168), such that firing beam (190)and firing block (168) translate unitarily together within sheath (162).Firing block (168) is secured to firing tube (167), which is best seenin FIG. 5. Firing block (168) and firing tube (167) translate unitarilytogether within sheath (162). Firing beam coupling (166) is secured tofiring tube (167), such that translating firing beam coupling (166) willtranslate firing beam (190) through the above-described couplings.

Firing beam (190) includes a sharp distal blade (194), an upper flange(192), and a lower flange (196). As best seen in FIGS. 8-9, distal blade(194) extends through slots (183, 185) of jaws (182, 184), with upperflange (192) being located above jaw (184) in recess (59) and lowerflange (196) being located below jaw (182) in recess (58). Theconfiguration of distal blade (194) and flanges (62, 66) provides an“I-beam” type of cross section at the distal end of firing beam (190).While flanges (192, 196) extend longitudinally only along a smallportion of the length of firing beam (190) in the present example, itshould be understood that flanges (192, 196) may extend longitudinallyalong any suitable length of firing beam (190). In addition, whileflanges (192, 196) are positioned along the exterior of jaws (182, 184),flanges (192, 196) may alternatively be disposed in corresponding slotsformed within jaws (182, 184). For instance, each jaw (182, 184) maydefine a “T”-shaped slot, with parts of distal blade (194) beingdisposed in one vertical portion of each “T”-shaped slot and withflanges (192, 196) being disposed in the horizontal portions of the“T”-shaped slots. Various other suitable configurations andrelationships will be apparent to those of ordinary skill in the art inview of the teachings herein.

Distal blade (194) is substantially sharp, such that distal blade (194)will readily sever tissue that is captured between jaws (182, 184).Distal blade (194) is also electrically grounded in the present example,providing a return path for RF energy as described elsewhere herein. Insome other versions, distal blade (194) serves as an active electrode.In addition or in the alternative, distal blade (194) may be selectivelyenergized with ultrasonic energy (e.g., harmonic vibrations atapproximately 55.5 kHz, etc.).

The “I-beam” type of configuration of firing beam (190) provides closureof jaws (182, 184) as firing beam (190) is advanced distally. Inparticular, flange (192) urges jaw (184) pivotally toward jaw (182) asfiring beam (190) is advanced from a proximal position to a distalposition, by bearing against recess (193) formed in jaw (184). Thisclosing effect on jaws (182, 184) by firing beam (190) may occur beforedistal blade (194) reaches tissue captured between jaws (182, 184). Suchstaging of encounters by firing beam (190) may reduce the force requiredto actuate firing beam (190) distally through a full firing stroke. Inother words, in some such versions, firing beam (190) may have alreadyovercome an initial resistance required to substantially close jaws(182, 184) on tissue before encountering resistance from severing thetissue captured between jaws (182, 184). Of course, any other suitablestaging may be provided.

In the present example, flange (192) is configured to cam against a rampfeature at the proximal end of jaw (184) to open jaw (184) when firingbeam (190) is retracted to a proximal position and to hold jaw (184)open when firing beam (190) remains at the proximal position. Thiscamming capability may facilitate use of end effector (180) to separatelayers of tissue, to perform blunt dissections, etc., by forcing jaws(182, 184) apart from a closed position. In some other versions, jaws(182, 184) are resiliently biased to an open position by a spring orother type of resilient feature. While jaws (182, 184) close or open asfiring beam (190) is translated in the present example, it should beunderstood that other versions may provide independent movement of jaws(182, 184) and firing beam (190). By way of example only, one or morecables, rods, beams, or other features may extend through shaft assembly(160) to selectively actuate jaws (182, 184) independently of firingbeam (190).

C. Exemplary Robotic Arm Interface Assembly

FIGS. 4 and 10-13 show interface assembly (110) of the present examplein greater detail. As shown, interface assembly (110) comprises ahousing (112), a base (114), and a cable (118). Housing (112) comprisesa shell that simply encloses drive components. In some versions, housing(112) also includes an electronic circuit board, chip, and/or otherfeature that is configured to identify instrument (100). Suchidentification may be carried out through cable (118). Cable (118) isconfigured to couple with power source (102) and controller (104). Astrain relief (119) is provided at the interface of cable (118) andhousing (112). It should be noted that housing (112) is omitted fromFIGS. 11-13 for the sake of clarity.

Base (114) includes a mounting plate (116) that engages dock (72) ofrobotic arm cart (40). It should be noted that plate (116) is omittedfrom FIGS. 12-13 for the sake of clarity. While not shown, it should beunderstood that base (114) may also include one or more electricalcontacts and/or other features operable to establish electricalcommunication with a complementary feature of dock (72). A shaft supportstructure (122) extends upwardly from base (114) and provides support toshaft assembly (160) (while still allowing shaft assembly (160) torotate). By way of example only, shaft support structure (122) mayinclude a busing, bearings, and/or other features that facilitaterotation of shaft assembly (160) relative to support structure (122). Asshown in FIG. 10, base (114) further includes four drive discs (120)that are rotatable relative to plate (116). Each disc (120) includes apair of unitary pins (121) that couple with complementary recesses (notshown) in drive elements of dock (72). In some versions, one pin (121)of each pair is closer to the axis of rotation of the corresponding disc(120), to ensure proper angular orientation of disc (120) relative tothe corresponding drive element of dock (72). As best seen in FIGS.11-13, a drive shaft (124, 125, 126, 127) extends unitarily upwardlyfrom each disc (120). As will be described in greater detail below,discs (120) are operable to provide independent rotation of shaftassembly (160), bending of articulation section (170), and translationof firing beam (190), through rotation of drive shafts (124, 125, 126,127).

As best seen in FIG. 11, a first helical gear (130) is fixedly securedto drive shaft (124), such that rotation of the corresponding disc (120)provides rotation of first helical gear (130). First helical gear (130)meshes with a second helical gear (132), which is fixedly secured torotary coupling (164). Thus, rotation of first helical gear (130)provides rotation of shaft assembly (160). It should be understood thatrotation of first helical gear (130) about a first axis is convertedinto rotation of second helical gear (132) about a second axis, which isorthogonal to the first axis. A clockwise (CW) rotation of secondhelical gear (132) results in CW rotation of shaft assembly (160). Acounter-clockwise (CCW) rotation of second helical gear (132) results inCCW rotation of shaft assembly (160). Other suitable ways in which shaftassembly (160) may be rotated will be apparent to those of ordinaryskill in the art in view of the teachings herein.

As best seen in FIGS. 11-12, a spur gear (134) is fixedly secured todrive shaft (125), such that rotation of the corresponding disc (120)provides rotation of spur gear (134). Spur gear (134) meshes with afirst spur pinion (136), which is fixedly secured to a pinion shaft(138). Pinion shaft (138) is supported by base (116) and rotates freelyrelative to base (116), such that first spur pinion (136) is rotatableas an idler. It should therefore be understood that first spur pinion(136) rotates in response to rotation of spur gear (134). First spurpinion (136) also meshes with a rack (140), which is fixedly secured toa drive block (142). Drive block (142) is secured to firing beamcoupling (166). Thus, rotation of first spur pinion (136) is convertedto translation of firing beam (190) via rack (140), drive block (142),and firing beam coupling (166). As noted above, firing beam (190) isoperable to first close jaws (182, 184) together about tissue during afirst range of distal travel of firing beam (190); then sever the tissueclamped between jaws (182, 184) during a first range of distal travel offiring beam (190). Thus tissue may be clamped and severed by rotation ofdrive shaft (125) via its corresponding disc (120). When this rotationis reversed, firing beam (190) retracts proximally, ultimately openingjaws (182, 184) to release tissue. Other suitable ways in which firingbeam (190) may be translated will be apparent to those of ordinary skillin the art in view of the teachings herein.

With respect to articulation control, FIGS. 11-12 show a second spurpinion (144) fixedly secured to drive shaft (126), such that rotation ofthe corresponding disc (120) provides rotation of second spur pinion(144). Second spur pinion (144) meshes with a left rack (146), which isfixedly secured to articulation beam (174). It should be understood thatarticulation beam (174) will translate distally or proximally inresponse to rotation of drive shaft (126). Similarly, FIGS. 11 and 13show a third spur pinion (148) fixedly secured to drive shaft (127),such that rotation of the corresponding disc (120) provides rotation ofthird spur pinion (148). Third spur pinion (148) meshes with a rightrack (150), which is fixedly secured to articulation beam (176). Itshould be understood that articulation beam (176) will translatedistally or proximally in response to rotation of drive shaft (127).

It should also be understood that drive shafts (126, 127) may be rotatedin the same direction simultaneously in order to provide opposingtranslation of beams (174, 176). For instance, drive shaft (126) may berotated clockwise to retract beam (174) proximally, with drive shaft(127) being rotated clockwise to advance beam (176) distally, to therebydeflect end effector (180) to the left (L) at articulation section(170). Conversely, drive shaft (126) may be rotated counter-clockwise toadvance beam (174) distally, with drive shaft (127) being rotatedcounter-clockwise to retract beam (176) proximally, to deflect endeffector (180) to the left (R) at articulation section (170). Othersuitable ways in which end effector (180) may be articulated atarticulation section (170) will be apparent to those of ordinary skillin the art in view of the teachings herein. By way of example only,articulation control may be provided in accordance with at least some ofthe teachings of U.S. Pub. No. 2012/0078243, the disclosure of which isincorporated by reference herein; and/or U.S. Pub. No. 2013/0023868, thedisclosure of which is incorporated by reference herein. It should alsobe understood that some versions of instrument (100) may simply lack anarticulation section (170) and corresponding control.

D. Exemplary Operation

In an exemplary use, arm cart (40) is used to insert end effector (180)into a patient via a trocar. Articulation section (170) is substantiallystraight when end effector (180) and part of shaft assembly (160) areinserted through the trocar. Drive shaft (124) may be rotated throughdrive features in dock (72) that are coupled with the corresponding disc(120), to position end effector (180) at a desired angular orientationrelative to the tissue. Drive shafts (126, 126) may then be rotatedthrough drive features in dock (72) that are coupled with thecorresponding discs (120), to pivot or flex articulation section (170)of shaft assembly (160) in order to position end effector (180) at adesired position and orientation relative to an anatomical structurewithin the patient. Two layers of tissue of the anatomical structure arethen captured between jaws (182, 184) by rotating drive shaft (125) toadvance firing beam (190) distally through a first range of motion. Suchlayers of tissue may be part of the same natural lumen defininganatomical structure (e.g., blood vessel, portion of gastrointestinaltract, portion of reproductive system, etc.) in a patient. For instance,one tissue layer may comprise the top portion of a blood vessel whilethe other tissue layer may comprise the bottom portion of the bloodvessel, along the same region of length of the blood vessel (e.g., suchthat the fluid path through the blood vessel before use of instrument(100) is perpendicular to the longitudinal axis defined by end effector(180), etc.). In other words, the lengths of jaws (182, 184) may beoriented perpendicular to (or at least generally transverse to) thelength of the blood vessel. As noted above, flanges (192, 196) camminglyact to pivot jaw (182) toward jaw (184) when firing beam (190) isactuated distally by rotating drive shaft (125).

With tissue layers captured between jaws (182, 184) firing beam (190)continues to advance distally in response to continued rotation of driveshaft (125). As firing beam (190) continues to advance distally, distalblade (194) simultaneously severs the clamped tissue layers, resultingin separated upper layer portions being apposed with respectiveseparated lower layer portions. In some versions, this results in ablood vessel being cut in a direction that is generally transverse tothe length of the blood vessel. It should be understood that thepresence of flanges (192, 196) immediately above and below jaws (182,184), respectively, may help keep jaws (182, 184) in a closed andtightly clamping position. In particular, flanges (192, 196) may helpmaintain a significantly compressive force between jaws (182, 184). Withsevered tissue layer portions being compressed between jaws (182, 184),electrode surfaces (186, 187) are activated with bipolar RF energy bythe surgeon providing a corresponding command input through controller(30) (e.g., through user input assembly (32) or footswitches (38),etc.). In some versions, electrodes (186, 187) are selectively coupledwith power source (102) such that electrode surface (186, 187) of jaws(182, 184) are activated with a common first polarity while firing beam(190) is activated at a second polarity that is opposite to the firstpolarity. Thus, a bipolar RF current flows between firing beam (190) andelectrode surfaces (186, 187) of jaws (182, 184), through the compressedregions of severed tissue layer portions. In some other versions,electrode surface (186) has one polarity while electrode surface (187)and firing beam (190) both have the other polarity. In either version(among at least some others), bipolar RF energy delivered by powersource (102) ultimately thermally welds the tissue layer portions on oneside of firing beam (190) together and the tissue layer portions on theother side of firing beam (190) together.

In certain circumstances, the heat generated by activated electrodesurfaces (186, 187) can denature the collagen within the tissue layerportions and, in cooperation with clamping pressure provided by jaws(182, 184), the denatured collagen can form a seal within the tissuelayer portions. Thus, the severed ends of the natural lumen defininganatomical structure are hemostatically sealed shut, such that thesevered ends will not leak bodily fluids. In some versions, electrodesurface (186, 187) may be activated with bipolar RF energy before firingbeam (190) even begins to translate distally and thus before the tissueis even severed. Other suitable ways in which instrument (100) may beoperable and operated will be apparent to those of ordinary skill in theart in view of the teachings herein.

III. Exemplary Alternative Electrosurgical Instrument with a RemovableShaft Assembly

FIG. 14 shows an exemplary alternative electrosurgical instrument (200).Instrument (200) of this example is substantially similar to instrument(100) described above in that instrument (200) has a shaft assembly(202), an articulation section (204), and an end effector (206) that aresubstantially identical to shaft assembly (160), articulation section(170), and end effector (180) described above. Instrument (200) of thisexample is also operable to couple with a dock (72) of robotic arm cart(40) via an interface assembly (210). However, interface assembly (210)of this example is different from interface assembly (110) describedabove. In some instances, it may be economically desirable to provide ashaft assembly (202) that is removable from interface assembly (210).For example, shaft assembly (202) may be removed from interface assembly(210) after a surgical procedure such that shaft assembly (202) may bedisposed of, while interface assembly (210) may be sterilized and reusedin another surgical procedure. Accordingly, shaft assembly (202) andinterface assembly (210) include coupling features to allow shaftassembly (202) to be removably coupled with interface assembly (210) byinserting shaft assembly (202) distally through the proximal end ofinterface assembly (210). The examples below include several merelyillustrative versions of coupling features that may be readilyintroduced to an instrument (200).

A. Exemplary Shaft Assembly Coupling Features

FIGS. 15-17 show shaft assembly (202) in greater detail. Shaft assembly(202) comprises an outer shaft (220), an inner shaft (230), and aplurality of coupling features (222, 232, 236, 238) to removably coupleshaft assembly (202) with interface assembly (210). Outer shaft (220)comprises a coupling feature (222) extending outwardly from an outersurface of the proximal end of outer shaft (220). The distal end ofouter shaft (220) is coupled with articulation section (204) and endeffector (206). Accordingly, coupling feature (222) engages interfaceassembly (210) such that interface assembly (210) is operable to rotatecoupling feature (222) and outer shaft (220) to thereby rotate outershaft (220), articulation section (204), and end effector (206) relativeto interface assembly (210).

Inner shaft (230) is coaxially and slidably disposed in outer shaft(220); and extends proximally from outer shaft (220). Inner shaft (230)comprises a coupling feature (232) extending outwardly from an outersurface of a proximal portion of inner shaft (230), as shown in FIG. 17.Coupling feature (232) is proximal to coupling feature (222) of outershaft (220). The distal end of inner shaft (230) is coupled with firingbeam (190). Accordingly, coupling feature (232) engages interfaceassembly (210) such that interface assembly (210) is operable totranslate coupling feature (232) and inner shaft (230) relative to outershaft (220) to thereby translate firing beam (190). Each side of innershaft (230) further comprises a channel (234) extending distally fromthe proximal end of inner shaft (230), as shown in FIG. 17. Couplingfeatures (236, 238) extend outwardly from inner shaft (230) throughchannels (234) such that coupling features (236, 238) may translatewithin channels (234). FIG. 16 shows that coupling feature (236) isdistal to coupling feature (238). Each coupling feature (236, 238) iscoupled with an articulation beam (174, 176) extending within innershaft (230). Accordingly, each coupling feature (236, 238) engagesinterface assembly (210) such that interface assembly (210) is operableto translate coupling features (236, 238) to thereby opposinglytranslate articulation beams (174, 176) and deflect end effector (206)from the longitudinal axis of shaft assembly (202). Although fourcoupling features (222, 232, 236, 238) are shown, any other suitablenumber of coupling features (222, 232, 236, 238) may be used.

B. Exemplary Interface Assembly Coupling Features

FIGS. 18A and 18B show a base (214) of interface assembly (210) that isremovably couplable with shaft assembly (202). Base (214) of interfaceassembly (210) comprises a helical gear (240), a first tubular member(250), a second tubular member (260), and a third tubular member (270)on mounting plate (216) that are configured to receive shaft assembly(202). Helical gear (240) comprises teeth (242) that mesh withcomplementary teeth of a second helical gear (255) on drive shaft (249).When drive shaft (249) is actuated, helical gear (255) rotates tothereby rotate helical gear (240). Helical gear (240) defines an opening(248) extending through helical gear (240) to receive shaft assembly(202), as shown in FIGS. 19 and 20. Opening (248) comprises a slot(246). Slot (246) comprises a recess (245) extending distally withinopening (248) and a recess (247) extending transversely from recess(245) within opening (248). Slot (246) is thereby configured as abayonet fitting and is sized to receive coupling feature (222) of outershaft (220). Outer shaft (220) may be inserted distally through helicalgear (240) such that coupling feature (222) is inserted distally withinrecess (245) of slot (246) until coupling feature (222) aligns withrecess (247) of slot (246). Outer shaft (220) may then be rotated suchthat coupling feature (222) rotates within recess (247) to lock thelongitudinal position of outer shaft (220) relative to helical gear(240). Accordingly, when helical gear (240) is rotated by second helicalgear (255), helical gear (240) rotates outer shaft (220) to therebyrotate shaft assembly (202).

First tubular member (250) is proximal to helical gear (240) and iscoupled with rack (261) of interface assembly (210), as shown in FIGS.18A and 18B. Rack (261) comprises a semi-circular bracket (296)extending inwardly from rack (261). Bracket (296) is sized to correspondto first tubular member (250) such that first tubular member (250) restswithin bracket (296). Bracket (296) further comprises a recess toreceive distal portion (252) of first tubular member (250), which has alarger outer diameter than central portion (251) of first tubular member(250). First tubular member (250) therefore translates with bracket(296) of rack (261). Rack (261) comprises a longitudinal row of teeththat mesh with teeth on gear (243) on drive shaft (241). Drive shaft(241) is actuated to rotate gear (243). The rotation of gear (243)translates rack (261) to thereby translate first tubular member (250).As shown in FIGS. 21-24, first tubular member (250) defines an opening(256) to receive shaft assembly (202). A first recess (253) withinopening (256) extends entirely through opening (256). This allowscoupling feature (222) of outer shaft (220) to slide through opening(253) of channel (256) as outer shaft (220) is inserted distally throughinterface assembly (210) until coupling feature (222) engages helicalgear (240). A slot (258) is also provided within opening (256) toreceive coupling feature (232) as a bayonet fitting. As shown in FIG.22, slot (258) comprises a recess (257) extending distally through aportion of first tubular member (250) from the proximal end of firsttubular member (250). Recess (259) extends transversely from recess(257). Slot (258) is positioned on the opposing side of opening (256)from recess (253) to receive coupling feature (232) of inner shaft(230). Inner shaft (230) may be inserted distally through first tubularmember (250) such that coupling feature (232) is inserted distallywithin recess (257) of slot (258) until coupling feature (232) alignswith recess (259) of slot (258). Inner shaft (230) may then be rotatedsuch that coupling feature (232) rotates within recess (259) to lock thelongitudinal position of inner shaft (230) relative to first tubularmember (250). Accordingly, when first tubular member (250) is translatedby rack (261), first tubular member (250) translates inner shaft (230)to thereby translate firing beam (190).

Second tubular member (260) is proximal to first tubular member (250)and is coupled with first lever arm (280) of interface assembly (210),as shown in FIGS. 18A and 18B. First lever arm (280) is coupled withIdle shaft (282) and is pivotable relative to Idle shaft (282). Theopposing end of first lever arm (280) is positioned against an eccentriccam (292) on drive shaft (286). When drive shaft (286) is actuated,eccentric cam (292) rotates to thereby translate first lever arm (280)and second tubular member (260). As shown in FIGS. 25-28, second tubularmember (260) comprises a distal portion (264), a proximal portion (262),and an opening (266) extending through second tubular member (260) toreceive shaft assembly (202). Distal portion (264) of second tubularmember (260) has a larger outer diameter than proximal portion (262) ofsecond tubular member (260). This allows distal portion (264) of secondtubular member (260) to be inserted within an opening of first lever arm(280) until proximal portion (262) of second tubular member (260)engages the proximal wall of first lever arm (280). A friction fit maybe provided between distal portion (264) and the opening of first leverarm (280) to longitudinally fix second tubular member (260) relative tofirst lever arm (280). A first recess (263) and a second recess (265)extend entirely through opening (266). This allows coupling feature(222) of outer shaft (220) and coupling feature (232) of inner shaft(230) to slide through recesses (263, 265) of opening (266) as shaftassembly (202) is inserted distally through interface assembly (210). Aslot (268) is also provided within opening (266) to receive couplingfeature (236) as a bayonet fitting. As shown in FIG. 26, slot (268)comprises a recess (267) extending distally through a portion of secondtubular member (260) from the proximal end of second tubular member(260). Recess (269) extends transversely from recess (267). Slot (268)is positioned between recesses (263, 265) to receive coupling feature(236) of inner shaft (230). Inner shaft (230) may be inserted distallythrough second tubular member (260) such that coupling feature (236) isinserted distally within recess (267) of slot (268) until couplingfeature (236) aligns with recess (269) of slot (268). Inner shaft (230)may then be rotated such that coupling feature (236) rotates withinrecess (269) to lock the longitudinal position of inner shaft (230)relative to second tubular member (260). Accordingly, when secondtubular member (260) is translated by first lever arm (280), secondtubular member (260) translates one of articulation beams (174, 176).

Third tubular member (270) is proximal to second tubular member (260)and is coupled with second lever arm (290) of interface assembly (210),as shown in FIGS. 18A and 18B. Second lever arm (290) is coupled withIdle shaft (284) and is pivotable relative to Idle shaft (284). Theopposing end of second lever arm (290) is positioned against aneccentric cam (294) on drive shaft (286). When drive shaft (286) isactuated, eccentric cam (294) rotates to thereby translate second leverarm (290) and third tubular member (270). Eccentric cams (292, 294) areoffset to opposingly translate lever arms (280, 290). As shown in FIGS.29-32, third tubular member (270) comprises a distal portion (274), aproximal portion (272), and an opening (276) extending through thirdtubular member (270) to receive shaft assembly (202). Distal portion(274) of third tubular member (270) has a larger outer diameter thanproximal portion (272) of third tubular member (270). This allows distalportion (274) of third tubular member (270) to be inserted within anopening of second lever arm (290) until proximal portion (272) of thirdtubular member (270) engages the proximal wall of second lever arm(290). A friction fit may be provided between distal portion (274) andthe opening of second lever arm (290) to longitudinally fix thirdtubular member (270) relative to second lever arm (290). A first recess(271), a second recess (273), and a third recess (275) extend entirelythrough opening (276). This allows coupling features (222, 232, 236) ofouter shaft (220) and inner shaft (230) to slide through recesses (271,273, 275) of opening (266) as shaft assembly (202) is inserted distallythrough interface assembly (210). A slot (278) is also provided withinopening (276) to receive coupling feature (238) as a bayonet fitting. Asshown in FIG. 30, slot (278) comprises a recess (277) extending distallythrough a portion of third tubular member (270) from the proximal end ofthird tubular member (270). Recess (279) extends transversely fromrecess (277). Slot (278) is positioned between recesses (271, 275) toreceive coupling feature (238) of inner shaft (230). Inner shaft (230)may be inserted distally through third tubular member (270) such thatcoupling feature (238) is inserted distally within recess (277) of slot(278) until coupling feature (238) aligns with recess (279) of slot(278). Inner shaft (230) may then be rotated such that coupling feature(238) rotates within recess (279) to lock the longitudinal position ofinner shaft (230) relative to third tubular member (270). Accordingly,when third tubular member (270) is translated by second lever arm (290),third tubular member (270) translates the other one of articulationbeams (174, 176) as second tubular member (260).

FIGS. 33-35 show a housing (212) for coupling with base (214) ofinterface assembly (210). Housing (212) is similar to housing (112),except that housing (212) comprises alignment features (201, 203, 205,207, 209). Alignment features (201, 203, 205, 207, 209) are recesseswithin a top surface of housing (212) and are positioned to correspondto drive shafts (241, 249, 282, 284, 286). A portion of drive shafts(241, 249, 282, 284, 286) extend within alignment features (201, 203,205, 207, 209) such that drive shafts (241, 249, 282, 284, 286) are ableto rotate within alignment features (201, 203, 205, 207, 209). Thisfixes the lateral and longitudinal position of housing (212) relative tobase (214) of interface assembly (210). Housing (212) further comprisesa channel (208) that is sized to receive to protrusions (295, 297)extending upwardly from rack (261) such that protrusions (295, 297) areconfigured to translate within channel (208) of housing (212). Opening(213) of housing (212) is configured such that shaft assembly (202)extends through opening (213) of housing (212). Opening (215) of housing(212) is configured such that a cable (118) may extend through opening(215) of housing (212). Housing (212) may be positioned over base (214)and coupled to base (214) after shaft assembly (202) is inserted withinand coupled to base (214). Screws (217) of base (214) may be threadedinto recesses (216, 218) of housing (212) to secure housing (212) tobase (214). Alternatively, housing (212) and/or base (214) may comprisetabs such that housing (212) may be snap fit onto base (214). Othersuitable methods for coupling housing (212) to base (214) will beapparent to one with ordinary skill in the art in view of the teachingsherein.

C. Exemplary Assembly

FIGS. 36A-36C show an exemplary assembly of shaft assembly (202) withininterface assembly (210). As shown in FIG. 36A, shaft assembly (202) maybe inserted distally through a proximal end of interface assembly (210).Coupling features (222, 232, 236, 238) are aligned with correspondingslots (246, 258, 268, 278). Accordingly, coupling feature (222) of outershaft (220) slides distally through recess (271) of third tubular member(270), recess (265) of second tubular member (260), and recess (253) offirst tubular member (250) until coupling feature (222) enters slot(246) of helical gear (240). Coupling feature (222) then slides distallywithin recess (245) of slot (246) until coupling feature (222) alignswith transverse recess (247) of slot (246). Coupling feature (232) onthe bottom surface of inner shaft (230) slides distally through recess(275) of third tubular member (270) and recess (263) of second tubularmember (260) until coupling feature (232) enters slot (258) of firsttubular member (250). Coupling feature (232) then slides distally withinrecess (257) of slot (258) until coupling feature (232) aligns withtransverse recess (259) of slot (258). Coupling feature (238) of innershaft (230) slides distally through recess (273) of third tubular member(270) and enters slot (268) of second tubular member (260). Couplingfeature (236) then enters recess (267) of slot (258) until couplingfeature (236) aligns with transverse recess (269) of slot (268).Coupling feature (238) of inner shaft (230) slides distally to enterrecess (277) of slot (278) of third tubular member (270) until couplingfeature (238) aligns with transverse recess (279) of slot (278). Thislongitudinally aligns shaft assembly (202) with interface assembly(210).

Shaft assembly (202) is then rotated within interface assembly (210) tolock the longitudinal position of shaft assembly (202) relative tointerface assembly (210), as shown in FIG. 36B. For example, couplingfeature (222) rotates within transverse recess (247) of slot (246),coupling feature (232) rotates within transverse recess (259) of slot(258), coupling feature (236) rotates within transverse recess (269) ofslot (268), and coupling feature (238) rotates within transverse recess(279) of slot (278). Although shaft assembly (202) is shown as rotatingclockwise in the present example to longitudinally lock shaft assembly(202) relative to interface assembly (210), slots (246, 258, 268, 278)may be configured such that shaft assembly (202) is rotatedcounterclockwise to lock the longitudinally position of shaft assembly(202). Once shaft assembly (202) is coupled with interface assembly(210), housing (212) is coupled with base (214) of interface assembly(210), as shown in FIG. 36C. Housing (212) is positioned over base (214)such that alignment features (201, 203, 205, 207, 209) of housing (212)are positioned over drive shafts (241, 249, 282, 284, 286) of base (214)and channel (208) is positioned over protrusions (295, 297) of rack(261). Housing (212) is then pressed downward toward base (214) suchthat a portion of drive shafts (241, 249, 282, 284, 286) enter alignmentfeatures (201, 203, 205, 207, 209) and protrusions (295, 297) enterchannel (208). This fixes the longitudinal and lateral position ofhousing (212) relative to base (214).

After housing (212) is coupled with base (214) of interface assembly(210), instrument (200) may be operated. In an exemplary use, arm cart(40) is used to insert end effector (206) into a patient via a trocar.Articulation section (204) is substantially straight when end effector(206) and part of shaft assembly (202) are inserted through the trocar.Drive shaft (249) may be rotated through drive features in dock (72)that are coupled with corresponding disc (285), to position end effector(206) at a desired angular orientation relative to the tissue. Driveshaft (286) may then be rotated through a drive feature in dock (72)that is coupled with corresponding disc (289), to pivot or flexarticulation section (204) of shaft assembly (202) in order to positionend effector (206) at a desired position and orientation relative to ananatomical structure within the patient. Two layers of tissue of theanatomical structure are then captured between jaws (182, 184) byrotating drive shaft (241) through a drive feature in dock (72) that iscoupled with corresponding disc (283) to advance firing beam (190)distally through a first range of motion. As noted above, flanges (192,196) cammingly act to pivot jaw (182) toward jaw (184) when firing beam(190) is actuated distally by rotating drive shaft (241).

With tissue layers captured between jaws (182, 184) firing beam (190)continues to advance distally in response to continued rotation of driveshaft (241). As firing beam (190) continues to advance distally, distalblade (194) simultaneously severs the clamped tissue layers, resultingin separated upper layer portions being apposed with respectiveseparated lower layer portions. With severed tissue layer portions beingcompressed between jaws (182, 184), electrode surfaces (186, 187) areactivated with bipolar RF energy by the surgeon providing acorresponding command input through controller (30) (e.g., through userinput assembly (32) or footswitches (38), etc.). Bipolar RF energydelivered by power source (102) ultimately thermally welds the tissuelayer portions on one side of firing beam (190) together and the tissuelayer portions on the other side of firing beam (190) together. Driveshaft (241) may then be actuated in the opposing direction to retractfiring beam (190) and open jaws (182, 184) of end effector (206).Articulation section (204) may be again aligned with shaft assembly(202) by actuating drive shaft (286) and end effector (206) may beremoved from the patient.

Housing (212) and shaft assembly (202) may then be decoupled from base(214) of interface assembly (210). For example, housing (212) is pulledupwardly from base (214). Shaft assembly (202) is rotated such thatcoupling features (222, 232, 236, 238) rotate out of correspondingtransverse recesses (247, 259, 269, 270) of slots (246, 258, 268, 278).Shaft assembly (202) is then pulled proximally out of interface assembly(210). Shaft assembly (202) may then be discarded, while interfaceassembly (210) may be sterilized and reused in another surgicalprocedure.

D. Exemplary Retractable Shaft Assembly Coupling Features

Shaft assembly (202) may be modified such that coupling features (222,232, 236, 238) are retractable within shaft assembly (202). For example,FIG. 37 shows another exemplary shaft assembly (302) and base (314) ofan interface assembly (310). Shaft assembly (302) is similar to shaftassembly (202), except that shaft assembly (302) comprises retractablecoupling features (336, 338). As shown in FIG. 38, shaft assembly (302)comprises an outer shaft (320) with coupling feature (322) extendingoutwardly from outer shaft (320) and an inner shaft (330) extendingproximally from outer shaft (320). Inner shaft (330) comprises acoupling feature (332) extending outwardly from inner shaft (330) and achannel (334) extending distally on each side of inner shaft (330) fromthe proximal end of inner shaft (330). Articulation beams (337, 338)extend through inner shaft (330) and are similar to articulation beams(174, 176). As shown in FIG. 41A, translating members (333, 335) arecoupled to articulation beams (337, 339). Translating member (333)comprises coupling feature (336) extending outwardly from translatingmember (333) and translating member (335) comprises coupling feature(338) extending outwardly from translating member (335). Translatingmembers (333, 335) are positioned within inner shaft (330) such thatcoupling features (336, 338) are configured to extend outward fromchannel (334) and translate through channel (334). The proximal ends oftranslating members (333, 335) include ramped surfaces (324, 326) toreceive a plug (393).

FIG. 39 shows that plug (393) comprises a first channel (395) extendinglongitudinally along one surface of plug (393) and a second channel(396) extending longitudinally along an opposite surface of plug (393).Plug (393) may be inserted within the proximal end inner shaft (330) todeflect and maintain coupling features (336, 338) outwardly. Forexample, articulation beams (337, 339) are resilient and are biasedinwardly such that coupling features (336, 338) are housed within innershaft (330), as shown in FIGS. 40A and 41A. Plug (393) is then inserteddistally such that plug (393) engages ramped surfaces (324, 326) oftranslating members (333, 335). Plug (393) then cammingly slides betweenarticulation beams (337, 339) such that articulation beam (337) ispositioned within channel (395) of plug (393) and articulation beam(339) is positioned within channel (396) of plug (393), as shown in FIG.41B. As plug (393) is inserted between articulation beams (337, 339),plug (393) drives articulation beams (337, 339) outwardly. This drivescoupling features (336, 338) of translation members (333, 335) outwardlysuch that coupling features (336, 338) extend through respectivechannels (334) of inner shaft (330), as shown in FIG. 40B.

Interface assembly (310) is similar to interface assembly (210), exceptthat second and third tubular members (360, 370) comprise an opening(368) instead of a slot (268, 278) to receive coupling features (336,338). As shown in FIGS. 42-45, second tubular member (360) comprises apair of recesses (365, 367) extending through opening (366) of secondtubular member (360). This allows coupling features (322, 332) of outershaft (320) and inner shaft (330) to pass through recesses (365, 367) asshaft assembly (302) is slid distally through second tubular member(360). Opening (366) also comprises a recess (368) extending withinopening (366). Recess (368) is configured to receive coupling feature(336) of articulation beam (337) when coupling feature (336) isdeflected outwardly. Third tubular member (370) is similar to secondtubular member (360) and is configured to receive coupling feature (338)of articulation beam (339) when coupling feature (338) is deflectedoutwardly.

FIGS. 46A-46D show an exemplary assembly of shaft assembly (302) withininterface assembly (310). As shown in FIG. 46A, shaft assembly (302) maybe inserted distally through a proximal end of interface assembly (310).Coupling feature (322) of outer shaft (320) slides distally throughrecesses (365) of second and third tubular members (360, 370) and recess(253) of first tubular member (350) until coupling feature (322) entersslot (246) of helical gear (340). Coupling feature (322) then slidesdistally within recess (245) of slot (246) until coupling feature (322)aligns with transverse recess (247) of slot (246). Coupling feature(332) of inner shaft (330) slides distally through recesses (367) ofsecond and third tubular members (360, 370) and until coupling feature(332) enters slot (258) of first tubular member (350). Coupling feature(332) then slides distally within recess (257) of slot (258) untilcoupling feature (332) aligns with transverse recess (259) of slot(258).

Shaft assembly (302) is then rotated within interface assembly (310) tolock the longitudinal position of shaft assembly (302) relative tointerface assembly (310), as shown in FIG. 46B. For example, couplingfeature (322) rotates within transverse recess (247) of slot (246) andcoupling feature (332) rotates within transverse recess (259) of slot(258). Plug (393) is then inserted within inner shaft (330) to deflectcoupling features (336, 338) outwardly, as shown in FIG. 46C. Plug (393)is inserted between articulation beams (337, 339) to drive articulationbeams (337, 339) and translating members (333, 335) outwardly. Thisextends coupling features (336, 338) through channel (334) of innershaft (330). Accordingly, coupling feature (336) extends within recess(368) of second tubular member (360) and coupling feature (338) extendswithin recess (368) of third tubular member (370). Once shaft assembly(302) is coupled with interface assembly (310), housing (312) is coupledwith base (314) of interface assembly (310), as shown in FIG. 46D,similar to interface assembly (210).

After housing (312) is coupled with base (314) of interface assembly(310), shaft assembly (302) may be operated by interface assembly (310).Drive shaft (349) may be rotated through drive features in dock (72)that are coupled with corresponding disc (285), to position end effector(206) at a desired angular orientation relative to the tissue. Driveshaft (386) may then be rotated through a drive feature in dock (72)that is coupled with corresponding disc (289), to pivot or flexarticulation section (204) of shaft assembly (302) in order to positionend effector (206) at a desired position and orientation relative to ananatomical structure within the patient. Two layers of tissue of theanatomical structure are then captured between jaws (182, 184) byrotating drive shaft (341) through a drive feature in dock (72) coupledwith corresponding disc (283) to advance firing beam (190) distallythrough a first range of motion. As noted above, flanges (192, 196)cammingly act to pivot jaw (182) toward jaw (184) when firing beam (190)is actuated distally by rotating drive shaft (341).

With tissue layers captured between jaws (182, 184) firing beam (190)continues to advance distally in response to continued rotation of driveshaft (341). As firing beam (190) continues to advance distally, distalblade (194) simultaneously severs the clamped tissue layers, resultingin separated upper layer portions being apposed with respectiveseparated lower layer portions. With severed tissue layer portions beingcompressed between jaws (182, 184), electrode surfaces (186, 187) areactivated with bipolar RF energy by the surgeon providing acorresponding command input through controller (30) (e.g., through userinput assembly (32) or footswitches (38), etc.). Bipolar RF energydelivered by power source (102) ultimately thermally welds the tissuelayer portions on one side of firing beam (190) together and the tissuelayer portions on the other side of firing beam (190) together. Driveshaft (341) may then be actuated in the opposing direction to retractfiring beam (190) and open jaws (182, 184) of end effector (206).Articulation section (204) may be again aligned with shaft assembly(302) by actuating drive shaft (386) and end effector (206) may beremoved from the patient.

Housing (312) and shaft assembly (302) may then be decoupled from base(314) of interface assembly (310). For example, housing (312) is pulledupwardly from base (314). Plug (393) is removed from inner shaft (330)to allow articulation beams (337, 339) to bias back inwardly. Thisdecouples coupling features (336, 338) from second and third tubularmembers (360, 370). Shaft assembly (302) is then rotated such thatcoupling features (322, 332) rotate out of corresponding transverserecesses (247, 259) of slots (246, 258). Shaft assembly (302) is thenpulled proximally out of interface assembly (310). Shaft assembly (302)may then be discarded, while interface assembly (310) may be sterilizedand reused in another surgical procedure.

E. Exemplary Collar Shaft Assembly Coupling Features

FIG. 47 shows another exemplary shaft assembly (402) and interfaceassembly (410). Shaft assembly (402) is similar to shaft assembly (202),except that shaft assembly (402) comprises collars (460, 470). Shaftassembly (402) comprises outer shaft (420) with a coupling feature (422)extending outwardly from outer shaft (420) and an inner shaft (430) thatis slidably and coaxially disposed on outer shaft (420) and that extendsproximally from outer shaft (420), as shown in FIGS. 48 and 49. Innershaft (430) comprises a coupling feature (432) extending outwardly frominner shaft (430). A first collar (460) and a second collar (470) areslidably disposed along inner shaft (430) and are coupled withrespective coupling features (236, 238). Accordingly, first and secondcollars (460, 470) are translatable along inner shaft (430) to translaterespective coupling features (236, 238) relative to inner shaft (430).First collar (460) is proximal to coupling feature (432) and comprises adistal portion (464) and a proximal portion (462). Proximal portion(462) has a larger outer diameter than distal portion (464). Secondcollar (470) is proximal to first collar (460) and comprises a distalportion (474) and a proximal portion (472). Distal portion (474) has asimilar and/or larger outer diameter than the proximal portion (462) offirst collar (460). Proximal portion (472) of second collar (470) has alarger outer diameter than distal portion (474) of second collar (470).

Interface assembly (410) is similar to interface assembly (210), exceptthat interface assembly (410) does not include second or third tubularmembers (260, 270). Instead, collars (460, 470) of shaft assembly (402)engage first and second lever arms (480, 490) of interface assembly(410), as shown in FIG. 47. First lever arm (480) comprises an opening(482) to receive distal portion (464) of first collar (460), as shown inFIGS. 50-51. Distal portion (464) may be coupled within opening (482) tolongitudinally secure first collar (460) relative to first lever arm(480) through a frictional fit, a bayonet fit, or other suitable methodsthat will be apparent to one with ordinary skill in the art in view ofthe teachings herein. Proximal portion (462) of first collar (460) maythen engage the proximal wall of first lever arm (480) such that firstcollar (460) is unable to pass through first lever arm (480). Secondlever arm (490) comprises an opening (492) to receive distal portion(474) of second collar (470), as shown in FIGS. 52-53. Distal portion(474) may be coupled within opening (492) to longitudinally securesecond collar (470) relative to second lever arm (490) through africtional fit, a bayonet fit, or other suitable methods that will beapparent to one with ordinary skill in the art in view of the teachingsherein. Proximal portion (472) of second collar (470) may then engagethe proximal wall of second lever arm (490) such that second collar(470) is unable to pass through second lever arm (490).

FIGS. 54A-54B show an exemplary assembly of shaft assembly (402) withininterface assembly (410). As shown in FIG. 54A, shaft assembly (402) maybe inserted distally through a proximal end of interface assembly (410).Coupling feature (422) of outer shaft (420) slides distally throughopenings (482, 492) of lever arms (480, 490) and through recess (253) offirst tubular member (450) until coupling feature (422) enters slot(246) of helical gear (440). Coupling feature (422) then slides distallywithin recess (245) of slot (246) until coupling feature (222) alignswith transverse recess (247) of slot (246). Coupling feature (432) ofinner shaft (430) slides distally through openings (482, 492) of leverarms (480, 490) until coupling feature (432) enters slot (258) of firsttubular member (450). Coupling feature (432) then slides distally withinrecess (257) of slot (258) until coupling feature (432) aligns withtransverse recess (259) of slot (258). First collar (460) slidesdistally through opening (492) of second lever arm (490) until proximalportion (462) of first collar (460) engages the proximal wall of firstlever arm (480). Second collar (470) slides distally until proximalportion (472) engages the proximal wall of second lever arm (490).

Shaft assembly (402) is then rotated within interface assembly (410) tolock the longitudinal position of shaft assembly (402) relative tointerface assembly (410), as shown in FIG. 54B. For example, couplingfeature (422) rotates within transverse recess (247) of slot (246) andcoupling feature (432) rotates within transverse recess (259) of slot(258). Once shaft assembly (402) is coupled with interface assembly(410), a housing (not shown) may be coupled with base (414) of interfaceassembly (410) and shaft assembly (402) may be operated by interfaceassembly (410). Drive shaft (449) may be rotated through drive featuresin dock (72) that are coupled with corresponding disc (285), to positionend effector (206) at a desired angular orientation relative to thetissue. Drive shaft (482) may then be rotated through a drive feature indock (72) that is coupled with corresponding disc (289), to pivot orflex articulation section (204) of shaft assembly (402) in order toposition end effector (206) at a desired position and orientationrelative to an anatomical structure within the patient. Two layers oftissue of the anatomical structure are then captured between jaws (182,184) by rotating drive shaft (441) through a drive feature in dock (72)coupled with corresponding disc (283) to advance firing beam (190)distally through a first range of motion. As noted above, flanges (192,196) cammingly act to pivot jaw (182) toward jaw (184) when firing beam(190) is actuated distally by rotating drive shaft (441).

With tissue layers captured between jaws (182, 184) firing beam (190)continues to advance distally in response to continued rotation of driveshaft (341). As firing beam (190) continues to advance distally, distalblade (194) simultaneously severs the clamped tissue layers, resultingin separated upper layer portions being apposed with respectiveseparated lower layer portions. With severed tissue layer portions beingcompressed between jaws (182, 184), electrode surfaces (186, 187) areactivated with bipolar RF energy by the surgeon providing acorresponding command input through controller (30) (e.g., through userinput assembly (32) or footswitches (38), etc.). Bipolar RF energydelivered by power source (102) ultimately thermally welds the tissuelayer portions on one side of firing beam (190) together and the tissuelayer portions on the other side of firing beam (190) together. Driveshaft (441) may then be actuated in the opposing direction to retractfiring beam (190) and open jaws (182, 184) of end effector (206).Articulation section (204) may be again aligned with shaft assembly(402) by actuating drive shaft (486) and end effector (206) may beremoved from the patient.

Shaft assembly (402) may then be decoupled from base (414) of interfaceassembly (410). For example, shaft assembly (402) is rotated such thatcoupling features (422, 432) rotate out of corresponding transverserecesses (247, 259) of slots (246, 258). Shaft assembly (402) is thenpulled proximally out of interface assembly (410). Shaft assembly (402)may then be discarded, while interface assembly (410) may be sterilizedand reused in another surgical procedure.

F. Exemplary Interface Assembly with a Removable Rack

FIG. 55 shows another exemplary interface assembly (510) that isconfigured to receive a shaft assembly (502). Interface assembly (510)is similar to interface assembly (410), except that interface assembly(510) comprises a removable rack (561). Rack (561) is similar to rack(261), except that rack (561) comprises a top cover (564) extending fromprotrusion (568) of rack (561) instead of a bracket (296). Rack (561) isconfigured to be inserted within interface assembly (510) after shaftassembly (502) is coupled with interface assembly (510). Teeth (562) ofrack (561) engage the teeth of gear (543) such that rack (561)translates as gear (543) is rotated by drive shaft (541). Top cover(564) of rack (561) engages first tubular member (550) with a snap fitto translate first tubular (550) with rack (561). Shaft assembly (502)is similar to shaft assembly (402).

FIGS. 56A-56D show an exemplary assembly of shaft assembly (502) withininterface assembly (510). As shown in FIG. 56A, shaft assembly (502) maybe inserted distally through a proximal end of interface assembly (510).Coupling feature (422) of outer shaft (520) slides distally throughopenings (482, 492) of lever arms (580, 590) and recess (253) of firsttubular member (550) until coupling feature (422) enters slot (246) ofhelical gear (540). Coupling feature (422) then slides distally withinrecess (245) of slot (246) until coupling feature (422) aligns withtransverse recess (247) of slot (246). Coupling feature (432) of innershaft (530) slides distally through openings (482, 492) of lever arms(580, 590) until coupling feature (432) enters slot (258) of firsttubular member (550). Coupling feature (432) then slides distally withinrecess (257) of slot (258) until coupling feature (432) aligns withtransverse recess (259) of slot (258). First collar (560) slidesdistally through opening (492) of second lever arm (590) until proximalportion (462) of first collar (560) engages the proximal wall of firstlever arm (580). Second collar (570) slides distally until proximalportion (472) engages the proximal wall of second lever arm (590).

Shaft assembly (502) is then rotated within interface assembly (510) tolock the longitudinal position of shaft assembly (502) relative tointerface assembly (510), as shown in FIG. 56B. For example, couplingfeature (422) rotates within transverse recess (247) of slot (246) andcoupling feature (432) rotates within transverse recess (259) of slot(258). Rack (561) is then inserted within interface assembly (510) alonga path that is transverse to the longitudinal axis of shaft assembly(502) to engage gear (543) and first tubular member (550), as shown inFIG. 56C. Once rack (561) is coupled with interface assembly (510),housing (512) is coupled with base (514) of interface assembly (510), asshown in FIG. 56D, similar to interface assembly (210).

After housing (512) is coupled with base (514) of interface assembly(510), shaft assembly (502) may be operated by interface assembly (510).Drive shaft (549) may be rotated through drive features in dock (72)that are coupled with corresponding disc (285), to position end effector(506) at a desired angular orientation relative to the tissue. Driveshaft (586) may then be rotated through a drive feature in dock (72)that is coupled with corresponding disc (289), to pivot or flexarticulation section (504) of shaft assembly (502) in order to positionend effector (506) at a desired position and orientation relative to ananatomical structure within the patient. Two layers of tissue of theanatomical structure are then captured between jaws (182, 184) byrotating drive shaft (541) through a drive feature in dock (72) that iscoupled with corresponding disc (283) to advance firing beam (190)distally through a first range of motion. As noted above, flanges (192,196) cammingly act to pivot jaw (182) toward jaw (184) when firing beam(190) is actuated distally by rotating drive shaft (541).

With tissue layers captured between jaws (182, 184) firing beam (190)continues to advance distally in response to continued rotation of driveshaft (541). As firing beam (190) continues to advance distally, distalblade (194) simultaneously severs the clamped tissue layers, resultingin separated upper layer portions being apposed with respectiveseparated lower layer portions. With severed tissue layer portions beingcompressed between jaws (182, 184), electrode surfaces (186, 187) areactivated with bipolar RF energy by the surgeon providing acorresponding command input through controller (30) (e.g., through userinput assembly (32) or footswitches (38), etc.). Bipolar RF energydelivered by power source (102) ultimately thermally welds the tissuelayer portions on one side of firing beam (190) together and the tissuelayer portions on the other side of firing beam (190) together. Driveshaft (541) may then be actuated in the opposing direction to retractfiring beam (190) and open jaws (182, 184) of end effector (506).Articulation section (504) may be again aligned with shaft assembly(502) by actuating drive shaft (586) and end effector (506) may beremoved from the patient.

Housing (512) and shaft assembly (502) may then be decoupled from base(514) of interface assembly (510). For example, housing (512) is pulledupwardly from base (514). Rack (561) is removed interface assembly (510)by pulling rack (561) upwardly from base (514). Shaft assembly (502) isthen rotated such that coupling features (422, 432) rotate out ofcorresponding transverse recesses (247, 259) of slots (246, 258). Shaftassembly (502) is then pulled proximally out of interface assembly(510). Shaft assembly (502) may then be discarded, while interfaceassembly (510) may be sterilized and reused in another surgicalprocedure.

IV. Miscellaneous

While examples herein include insertion of a shaft assembly into aninterface assembly along a longitudinal axis of the shaft assembly froma proximal side of the interface assembly, it should be understood thatsome axial insertion techniques may include inserting the shaft assemblyfrom the distal side of the interface assembly instead of approachingfrom the proximal side. It should also be understood that an interfaceassembly may include an integral power source such as a battery, andthat such a battery may provide at least some of any electrical powerrequired to operate the surgical instrument of the interface assembly.In other words, an interface assembly may provide electrical power toone or more components of the associated surgical instrument from asource that is internal to the interface assembly and/or from a sourcethat is external to the interface assembly (e.g., through system (10)).Regardless of where the source is located, the interface assembly mayinclude one or more conductive clips, contacts, and/or other featuresthat provide automatic electrical coupling with the shaft assembly whenthe shaft assembly is mechanically coupled with the interface assembly.Various suitable ways in which a shaft assembly and an interfaceassembly may be electrically coupled will be apparent to those ofordinary skill in the art in view of the teachings herein.

Furthermore, an interface assembly may be configured to couple with avariety of types of modular shaft assemblies. Such modular shaftassemblies may provide inter-modality and/or intra-modality variation.Examples of inter-modality variation may include a single interfaceassembly being able to selectively couple with different shaftassemblies having a variety of end effectors that include staplers, RFelectrosurgical features, ultrasonic cutting features, etc. Examples ofintra-modality variation may include a single interface assembly beingable to selectively couple with different RF electrosurgical shaftassemblies having a variety of end effectors that include straight jaws,curved jaws, etc. Other inter-modality variations and intra-modalityvariations will be apparent to those of ordinary skill in the art inview of the teachings herein.

It should be understood that any of the versions of instrumentsdescribed herein may include various other features in addition to or inlieu of those described above. By way of example only, any of theinstruments described herein may also include one or more of the variousfeatures disclosed in any of the various references that areincorporated by reference herein.

While the examples herein are described mainly in the context ofelectrosurgical instruments, it should be understood that variousteachings herein may be readily applied to a variety of other types ofdevices. By way of example only, the various teachings herein may bereadily applied to other types of electrosurgical instruments, tissuegraspers, tissue retrieval pouch deploying instruments, surgicalstaplers, surgical clip appliers, ultrasonic surgical instruments, etc.

In versions where the teachings herein are applied to a surgicalstapling instrument, it should be understood that the teachings hereinmay be combined with the teachings of one or more of the following, thedisclosures of all of which are incorporated by reference herein: U.S.Pat. Nos. 7,380,696; 7,404,508; 7,455,208; 7,506,790; 7,549,564;7,559,450; 7,654,431; 7,780,054; 7,784,662; and/or 7,798,386. Othersuitable ways in which the teachings herein may be applied to a surgicalstapling instrument will be apparent to those of ordinary skill in theart in view of the teachings herein.

In versions where the teachings herein are applied to an ultrasonicsurgical instrument, it should be understood that some such instrumentsmay lack a translating firing beam. The components described herein fortranslating a firing beam may instead simply translate a jaw closingmember. Alternatively, such translating features may simply be omitted.In any case, it should be understood that the teachings herein may becombined with the teachings of one or more of the following: U.S. Pat.Pub. No. 2006/0079874, entitled “Tissue Pad for Use with an UltrasonicSurgical Instrument,” published Apr. 13, 2006, the disclosure of whichis incorporated by reference herein; U.S. Pat. Pub. No. 2007/0191713,entitled “Ultrasonic Device for Cutting and Coagulating,” published Aug.16, 2007, the disclosure of which is incorporated by reference herein;U.S. Pat. Pub. No. 2007/0282333, entitled “Ultrasonic Waveguide andBlade,” published Dec. 6, 2007, the disclosure of which is incorporatedby reference herein; U.S. Pat. Pub. No. 2008/0200940, entitled“Ultrasonic Device for Cutting and Coagulating,” published Aug. 21,2008, the disclosure of which is incorporated by reference herein; U.S.Pat. Pub. No. 2011/0015660, entitled “Rotating Transducer Mount forUltrasonic Surgical Instruments,” published Jan. 20, 2011, thedisclosure of which is incorporated by reference herein; U.S. Pat. No.6,500,176, entitled “Electrosurgical Systems and Techniques for SealingTissue,” issued Dec. 31, 2002, the disclosure of which is incorporatedby reference herein; U.S. Pat. Pub. No. 2011/0087218, entitled “SurgicalInstrument Comprising First and Second Drive Systems Actuatable by aCommon Trigger Mechanism,” published Apr. 14, 2011, the disclosure ofwhich is incorporated by reference herein; and/or U.S. Pat. No.6,783,524, entitled “Robotic Surgical Tool with Ultrasound Cauterizingand Cutting Instrument,” issued Aug. 31, 2004, the disclosure of whichis incorporated by reference herein. Other suitable ways in which theteachings herein may be applied to an ultrasonic surgical instrumentwill be apparent to those of ordinary skill in the art in view of theteachings herein.

It should also be understood that the teachings herein may be readilyapplied to any of the instruments described in any of the otherreferences cited herein, such that the teachings herein may be readilycombined with the teachings of any of the references cited herein innumerous ways. Other types of instruments into which the teachingsherein may be incorporated will be apparent to those of ordinary skillin the art.

It should be appreciated that any patent, publication, or otherdisclosure material, in whole or in part, that is said to beincorporated by reference herein is incorporated herein only to theextent that the incorporated material does not conflict with existingdefinitions, statements, or other disclosure material set forth in thisdisclosure. As such, and to the extent necessary, the disclosure asexplicitly set forth herein supersedes any conflicting materialincorporated herein by reference. Any material, or portion thereof, thatis said to be incorporated by reference herein, but which conflicts withexisting definitions, statements, or other disclosure material set forthherein will only be incorporated to the extent that no conflict arisesbetween that incorporated material and the existing disclosure material.

Versions described above may be designed to be disposed of after asingle use, or they can be designed to be used multiple times. Versionsmay, in either or both cases, be reconditioned for reuse after at leastone use. Reconditioning may include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, someversions of the device may be disassembled, and any number of theparticular pieces or parts of the device may be selectively replaced orremoved in any combination. Upon cleaning and/or replacement ofparticular parts, some versions of the device may be reassembled forsubsequent use either at a reconditioning facility, or by a userimmediately prior to a procedure. Those skilled in the art willappreciate that reconditioning of a device may utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

By way of example only, versions described herein may be sterilizedbefore and/or after a procedure. In one sterilization technique, thedevice is placed in a closed and sealed container, such as a plastic orTYVEK bag. The container and device may then be placed in a field ofradiation that can penetrate the container, such as gamma radiation,x-rays, or high-energy electrons. The radiation may kill bacteria on thedevice and in the container. The sterilized device may then be stored inthe sterile container for later use. A device may also be sterilizedusing any other technique known in the art, including but not limited tobeta or gamma radiation, ethylene oxide, or steam.

Having shown and described various embodiments of the present invention,further adaptations of the methods and systems described herein may beaccomplished by appropriate modifications by one of ordinary skill inthe art without departing from the scope of the present invention.Several of such potential modifications have been mentioned, and otherswill be apparent to those skilled in the art. For instance, theexamples, embodiments, geometrics, materials, dimensions, ratios, steps,and the like discussed above are illustrative and are not required.Accordingly, the scope of the present invention should be considered interms of the following claims and is understood not to be limited to thedetails of structure and operation shown and described in thespecification and drawings.

1.-20. (canceled)
 21. An apparatus, the apparatus comprising: (a) aninterface assembly, wherein the interface assembly comprises: (i) a basecomprising a mounting plate configured to couple with a robotic arm,(ii) a first drive assembly comprising a first drive shaft configured torotate relative to the base about a first axis, and (iii) a second driveassembly comprising a second drive shaft configured to rotate relativeto the base about a second axis; and (b) a coupling assembly configuredto selectively couple a shaft assembly with the interface assembly,wherein the coupling assembly comprises: (i) a first coupling bodyoperatively coupled with the first drive assembly, wherein the firstcoupling body defines a first opening extending along a longitudinalaxis, wherein the first coupling body further defines a first couplingfeature located within the first opening, wherein the first opening isdimensioned to receive the shaft assembly and the first coupling featureis configured to selectively couple the first coupling body with theshaft assembly, and (ii) a second coupling body operatively coupled withthe second drive assembly, wherein the second coupling body defines asecond opening extending along the longitudinal axis, wherein the secondcoupling body further defines a second coupling feature located withinthe second opening, wherein the second opening is dimensioned to receivethe shaft assembly and the second coupling feature is configured toselectively couple the second coupling body with the shaft assembly. 22.The apparatus of claim 21, wherein the first coupling feature comprisesa first slot forming a bayonet fitting.
 23. The apparatus of claim 22,wherein the second coupling feature comprises a second slot forming asecond bayonet fitting.
 24. The apparatus of claim 21, wherein the firstcoupling feature comprises a recessed opening.
 25. The apparatus ofclaim 21, wherein the first coupling body comprises a first helical gearconfigurated to rotate about the longitudinal axis.
 26. The apparatus ofclaim 25, wherein the first drive shaft comprises a second helical geardimensioned to mesh with the first helical gear, wherein the secondhelical gear is configured to rotate about the first axis.
 27. Theapparatus of claim 21, wherein the first axis and the second axis areparallel with each other.
 28. The apparatus of claim 27, wherein thelongitudinal axis is transverse to the first axis and the second axis.29. The apparatus of claim 21, wherein the second drive assembly furthercomprises a rack.
 30. The apparatus of claim 29, wherein the seconddrive assembly further comprises coupling body comprises a bracketattached to the rack, wherein the bracket is fixed to the secondcoupling body.
 31. The apparatus of claim 29, wherein the second driveassembly further comprises a gear fixed to the second drive shaft,wherein the gear meshes with the rack.
 32. The apparatus of claim 31,wherein rotation of the gear drives longitudinal translation of the rackand the second coupling body.
 33. The apparatus of claim 21, wherein thesecond coupling body further defines a through recess extending alongthe second opening, wherein the through recess is at least partiallyaligned with the first coupling feature.
 34. The apparatus of claim 21,wherein the interface assembly further comprises a housing configured tocouple with base of the interface assembly.
 35. The apparatus of claim21, wherein the first drive assembly further comprises a drive discattached to the first drive shaft.
 36. The apparatus of claim 21,wherein the second drive assembly further comprises a drive discattached to the second drive shaft.
 37. An apparatus, the apparatuscomprising: (a) an interface assembly, wherein the interface assemblycomprises: (i) a base comprising a mounting plate configured to couplewith a robotic arm, (ii) a first drive assembly comprising a first driveshaft configured to rotate relative to the base about a first axis, and(iii) a second drive assembly comprising a second drive shaft configuredto rotate relative to the base about a second axis; and (b) a couplingassembly configured to selectively couple a shaft assembly with theinterface assembly, wherein the coupling assembly comprises: (i) a firstcoupling body operatively coupled with the first drive assembly suchthat the first drive assembly is configured to rotate the first couplingbody about a longitudinal axis, wherein the first coupling body definesa first opening extending along the longitudinal axis, wherein the firstopening is dimensioned to receive and couple with the shaft assembly,and (ii) a second coupling body operatively coupled with the seconddrive assembly such that the second drive assembly is configured totranslate the second coupling body along the longitudinal axis, whereinthe second coupling body defines a second opening extending along thelongitudinal axis, wherein the second opening is dimensioned to receiveand couple with the shaft assembly and the second coupling feature isconfigured to selectively couple the second coupling body with the shaftassembly.
 38. The apparatus of claim 37, wherein the interface assemblyfurther comprises a third drive assembly comprising a third drive shaftconfigured of rotate relative to the base about a third axis.
 39. Theapparatus of claim 38, wherein the coupling assembly further comprises athird coupling body and a fourth coupling body, wherein the thirdcoupling body defines a third opening extending along the longitudinalaxis, wherein the fourth coupling body defines a fourth openingextending along the longitudinal axis, wherein the third drive shaft isconfigured to simultaneously translate the third coupling body and thefourth coupling body in opposite directions along the longitudinal axis.40. An apparatus, the apparatus comprising: (a) an interface assembly,wherein the interface assembly comprises: (i) a base comprising amounting plate configured to couple with a robotic arm, and (ii) a firstdrive assembly comprising a first drive shaft configured to rotaterelative to the base about a first axis, and (b) a coupling assemblyconfigured to selectively couple a shaft assembly with the interfaceassembly, wherein the coupling assembly comprises: (i) a first couplingbody operatively coupled with the first drive assembly, wherein thefirst coupling body defines a first opening extending along alongitudinal axis, wherein the first opening is dimensioned to receiveand couple with the shaft assembly, and (ii) a second coupling bodyoperatively coupled with the first drive assembly, wherein the secondcoupling body defines a second opening extending along the longitudinalaxis, wherein the second opening is dimensioned to receive and couplewith the shaft assembly; wherein rotation of the first drive shaft in afirst rotational direction is configured to simultaneously drivetranslation of the first coupling body and the second coupling body inopposite directions.